cmake_minimum_required(VERSION 2.8.3)
project(test_mavros)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  angles
  control_toolbox
  eigen_conversions
  geometry_msgs
  mavros
  mavros_extras
  roscpp
  std_msgs
  tf2_ros
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(Boost REQUIRED COMPONENTS system)

find_package(Eigen3)
if(NOT EIGEN3_FOUND)
  # Fallback to cmake_modules
  find_package(cmake_modules REQUIRED)
  find_package(Eigen REQUIRED)
  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
endif()

include(EnableCXX11)

# Fix issue #546: control_toolbox changed API in Kinetic
if(${control_toolbox_VERSION} VERSION_LESS 1.14.0)
  message(STATUS "Use old control_toolbox API")
  add_definitions(-DCONTROL_TOOLBOX_PRE_1_14)
else()
  message(STATUS "Use new control_toolbox API")
endif()

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  #INCLUDE_DIRS include
  #LIBRARIES sitl_test
  CATKIN_DEPENDS control_toolbox eigen_conversions geometry_msgs mavros mavros_extras roscpp std_msgs tf2_ros
  DEPENDS Boost
)

###########
## Build ##
###########

include_directories(
  include
  ${Boost_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

add_library(
  mavros_sitl_test
  sitl_test/lib/pid_controller.cpp
  sitl_test/lib/sitl_test.cpp
)
target_link_libraries(
  mavros_sitl_test
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_executable(
  sitl_test_node
  sitl_test/sitl_test_node.cpp
)
add_dependencies(
  sitl_test_node
  mavros_sitl_test
)
target_link_libraries(
  sitl_test_node
  mavros_sitl_test
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
file(GLOB SCRIPTS ${PROJECT_SOURCE_DIR}/scripts/*)
install(PROGRAMS
  ${SCRIPTS}
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables and/or libraries for installation
install(TARGETS mavros_sitl_test sitl_test_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_test_mavros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
